Certifying Bimanual RRT Motion Plans in a Second

We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include those generated by popular randomized methods including RRTs and PRMs, as well as those generated by many methods in trajectory optimization. Based on Sums-of-Squares optimization, our method provides exact, rigorous certificates of non-collision; it can never falsely claim that a motion plan containing collisions is collision-free. We demonstrate that our formulation is practical for real world deployment, certifying the safety of a twelve degree of freedom motion plan in just over a second. Moreover, the method is capable of discriminating the safety or lack thereof of two motion plans which differ by only millimeters.Comment: 7 pages, 5 figures, 1 tabl

Semistable reduction for overconvergent F-isocrystals, III: Local semistable reduction at monomial valuations

We resolve the local semistable reduction problem for overconvergent F-isocrystals at monomial valuations (Abhyankar valuations of height 1 and residue transcendence degree 0). We first introduce a higher-dimensional analogue of the generic radius of convergence for a p-adic differential module, which obeys a convexity property. We then combine this convexity property with a form of the p-adic local monodromy theorem for so-called fake annuli.Comment: 36 pages; v3: refereed version; adds appendix with two example

Coleman maps and the p-adic regulator

This paper is a sequel to our earlier paper "Wach modules and Iwasawa theory for modular forms" (arXiv: 0912.1263), where we defined a family of Coleman maps for a crystalline representation of the Galois group of Qp with nonnegative Hodge-Tate weights. In this paper, we study these Coleman maps using Perrin-Riou's p-adic regulator L_V. Denote by H(\Gamma) the algebra of Qp-valued distributions on \Gamma = Gal(Qp(\mu (p^\infty) / Qp). Our first result determines the H(\Gamma)-elementary divisors of the quotient of D_{cris}(V) \otimes H(\Gamma) by the H(\Gamma)-submodule generated by (\phi * N(V))^{\psi = 0}, where N(V) is the Wach module of V. By comparing the determinant of this map with that of L_V (which can be computed via Perrin-Riou's explicit reciprocity law), we obtain a precise description of the images of the Coleman maps. In the case when V arises from a modular form, we get some stronger results about the integral Coleman maps, and we can remove many technical assumptions that were required in our previous work in order to reformulate Kato's main conjecture in terms of cotorsion Selmer groups and bounded p-adic L-functions.Comment: 27 page

Adelic versions of the Weierstrass approximation theorem

Let $\underline{E}=\prod_{p\in\mathbb{P}}E_p$ be a compact subset of $\widehat{\mathbb{Z}}=\prod_{p\in\mathbb{P}}\mathbb{Z}_p$ and denote by $\mathcal C(\underline{E},\widehat{\mathbb{Z}})$ the ring of continuous functions from $\underline{E}$ into $\widehat{\mathbb{Z}}$. We obtain two kinds of adelic versions of the Weierstrass approximation theorem. Firstly, we prove that the ring ${\rm Int}_{\mathbb{Q}}(\underline{E},\widehat{\mathbb{Z}}):=\{f(x)\in\mathbb{Q}[x]\mid \forall p\in\mathbb{P},\;\;f(E_p)\subseteq \mathbb{Z}_p\}$ is dense in the direct product $\prod_{p\in\mathbb{P}}\mathcal C(E_p,\mathbb{Z}_p)\,$ for the uniform convergence topology. Secondly, under the hypothesis that, for each $n\geq 0$, $\#(E_p\pmod{p})>n$ for all but finitely many $p$, we prove the existence of regular bases of the $\mathbb{Z}$-module ${\rm Int}_{\mathbb{Q}}(\underline{E},\widehat{\mathbb{Z}})$, and show that, for such a basis $\{f_n\}_{n\geq 0}$, every function $\underline{\varphi}$ in $\prod_{p\in\mathbb{P}}\mathcal{C}(E_p,\mathbb{Z}_p)$ may be uniquely written as a series $\sum_{n\geq 0}\underline{c}_n f_n$ where $\underline{c}_n\in\widehat{\mathbb{Z}}$ and $\lim_{n\to \infty}\underline{c}_n\to 0$.Comment: minor corrections the statement of Theorem 3.5, which covers the case of a general compact subset of the profinite completion of Z. to appear in Journal of Pure and Applied Algebra, comments are welcome

Etude sur le réchauffement de la viande au cours de la fabrication de Bœuf assaisonné pendant la saison chaude

Dumeste Marcel H., Amice J. Étude sur le réchauffement de la viande au cours de la fabrication du Bœuf assaisonné pendant la saison chaude (2 graphiques). In: Bulletin de l'Académie Vétérinaire de France tome 110 n°5, 1957. pp. 195-202

<i>p</i>-adic asymptotic properties of constant-recursive sequences

In this article we study p-adic properties of sequences of integers (or p-adic integers) that satisfy a linear recurrence with constant coefficients. For such a sequence, we give an explicit approximate twisted interpolation to ℤp. We then use this interpolation for two applications. The first is that certain subsequences of constant-recursive sequences converge p-adically. The second is that the density of the residues modulo pα attained by a constant-recursive sequence converges, as α→∞, to the Haar measure of a certain subset of ℤp. To illustrate these results, we determine some particular limits for the Fibonacci sequence